Method for detecting and tracking the position of a movable transferring device/loading device of a bucket-wheel excavator or bucket chain excavator

ABSTRACT

Exemplary embodiments are directed to a method for detecting and tracking the position of a mobile transferring device/loading device of a bucket-wheel excavator or bucket chain excavator. The bucket-wheel excavator or bucket chain excavator includes an extraction device having a pivotable superstructure, which has inclinable cantilever, a track-drivable substructure, and a transferring device having a loading cantilever and renders conveyed material through a bench conveyor. An open-loop/closed-loop control device establishes the pivot angle and the inclination of the loading cantilever of the transferring device according to the signals of a plurality of sensors.

RELATED APPLICATION(S)

This application claims priority as a continuation application under 35U.S.C. §120 to PCT/EP2012/058202, which was filed as an InternationalApplication on May 4, 2012 designating the U.S., and which claimspriority to European Application 102011100890.3 filed in Europe on May7, 2011. The content of each prior application is hereby incorporated byreference in its entirety.

FIELD

The disclosure relates to a method for detecting and tracking theposition of a movable transferring device/loading device of abucket-wheel excavator or bucket chain excavator.

BACKGROUND INFORMATION

A known bucket-wheel excavator comprises (e.g., includes) in standarddesigns a pivotable superstructure having an inclinable boom with abucket wheel fastened thereto, a track-mobile substructure, and atransferring device or loading device with loading boom inclusive ofloading belt. During operation, the superstructure pivots back and forthon the track-mobile substructure within its working range. Thebucket-wheel excavator transfers the masses which it has extracted inblock operation (bench block or side block operation, or the conveyedmaterial) for example coal or spoils, to a shiftable bench conveyor.

Track-mounted bucket chain excavators are equipped with a pivotmechanism for the superstructure. They can operate in upward cutting ordownward cutting mode. The excavator superstructure receivesperpendicular to the direction of travel the bucket ladder, the lower,movable part of which is suspended articulately from the superstructureand from a boom by means of one or more bucket ladder winches. On thebucket ladder runs an endless bucket chain. The bucket chain excavatoris equipped with a transferring device.

The design of the transferring device takes into account that the anglebetween the loading belt of the transferring device and the benchconveyor belt axis in ground plan is adjustable. The pivot motion of thetransferring device enables the unloading of the transferring device tobe adapted to the distance of the shiftable bench conveyor from theexcavator axis (center axis of the tracked substructure). The shiftablebench conveyor lies parallel to the direction of travel of thetrack-mobile substructure of the excavator (bucket chain excavator orbucket-wheel excavator) and is shifted in dependence on the rate ofadvance.

An interposed mobile transfer conveyor can be used, for example, toenlarge the radius of action of the bucket-wheel excavator or bucketchain excavator during mining.

A fundamental object in respect of the loading consists in the operationof a pivot mechanism/lifting gear of the loading boom inclusive ofloading belt of the transferring device, including operation of aloading chute for the correct belt loading of the bench conveyor or of amobile transfer conveyor and control of the mass stream or of theconveyed material stream. This object is fulfilled by a loadingattendant.

The loading attendant conducts the operation of the pivotmechanism/lifting gear for the loading boom and the operation of theloading chute for the correct belt loading and control of the massstream.

SUMMARY

An exemplary method for detecting and tracking a position of a movabletransferring device/loading device of a bucket-wheel excavator isdisclosed, the excavator includes an extraction apparatus having apivotable superstructure with an inclinable boom, a track-mobilesubstructure, and a transferring device with a loading boom, thesuperstructure delivers conveyed material by means of a bench conveyorwithout an interposed mobile transfer conveyor or transfer point,wherein an open-loop or closed-loop control device establishes the pivotangle and the inclination of the loading boom of the transferringdevice, the method comprising: detecting, in a first sensor, currentspatial coordinates of the bucket-wheel excavator; detecting, in asecond sensor, current spatial coordinates of the bench conveyor;detecting, in a third sensor, current longitudinal inclination andtransverse inclination of the loading boom; detecting, in a fourthsensor, a current pivot angle of the loading boom; detecting, in a fifthsensor, a current distance of the loading boom above the bench conveyor;detecting, in a sixth sensor, a current vertical positioning of theloading boom above the bench conveyor; and monitoring, in a seventhsensor, overfilling at the transfer point of the loading boom.

An exemplary method for detecting and tracking a position of a movabletransferring device/loading device of a bucket-wheel excavator or bucketchain excavator is disclosed, the excavator includes an extractionapparatus having a pivotable superstructure with an inclinable boom, atrack-mobile substructure, and a transferring device with a loadingboom, the superstructure delivers conveyed material by means of a benchconveyor with an interposed mobile transfer conveyor or transfer point,wherein an open-loop or closed-loop control device establishes the pivotangle and the inclination of the loading boom of the transferringdevice, the method comprising: detecting, in a first sensor, currentspatial coordinates of the bucket-wheel excavator or bucket chainexcavator; detecting, in a second sensor, current spatial coordinates ofthe bench conveyor or of the take-up belt of the mobile transferconveyor; detecting, in a third sensor, current longitudinal inclinationand transverse inclination of the loading boom; detecting, in a fourthsensor, a current pivot angle of the loading boom; detecting, in a fifthsensor, a current distance of the loading boom above the bench conveyoror above the take-up belt of the mobile transfer conveyor; detecting, ina sixth sensor, a current vertical positioning of the loading boom abovethe bench conveyor or above the take-up belt of the mobile transferconveyor, inclusive of detection of the belt middle; and monitoring, ina seventh sensor, an overfilling at the transfer point of the loadingboom.

DESCRIPTION OF THE DRAWINGS

The disclosure is explained below with reference to the illustrativeexemplary embodiment represented in the drawing, in which:

FIG. 1 shows a schematic view of an underground mining operationincluding as the main components a bucket-wheel excavator or bucketchain excavator in accordance with an exemplary embodiment of thepresent disclosure.

FIG. 2 shows a mobile transfer conveyor provided between thebucket-wheel excavator or bucket chain excavator and the bench conveyorin accordance with an exemplary embodiment of the present disclosure.

DETAILED DESCRIPTION

Exemplary embodiments of the present disclosure specify an optimizedmethod for detecting and tracking the position of a movable transferringdevice/loading device of a bucket-wheel excavator or bucket chainexcavator.

Exemplary methods of the present disclosure, include anopen-loop/closed-loop control device can define (e.g., establish) thepivot angle and the inclination of the loading boom of the transferringdevice in dependence on the signals of the following sensors: a sensorfor detecting the current spatial coordinates of the bucket-wheelexcavator or bucket chain excavator, a sensor for detecting the currentspatial coordinates of the bench conveyor or of the take-up belt of themobile transfer conveyor, a sensor for detecting the currentlongitudinal inclination and transverse inclination of the loading boom,a sensor for detecting the current pivot angle of the loading boom, asensor for detecting the current distance of the loading boom above thebench conveyor or above the take-up belt of the mobile transferconveyor, a sensor for detecting the current vertical positioning of theloading boom above the bench conveyor or above the take-up belt of themobile transfer conveyor, inclusive of detection of the belt middle, asensor for monitoring overfilling in/at the transfer point of theloading boom.

The advantages obtainable with the exemplary embodiments disclosedherein can include, for example, making an additional loading attendantobsolete, since the operation of a pivot mechanism/lifting gear of theloading boom inclusive of the loading belt of the transferring device,including operation of a loading chute for the correct belt loading ofthe bench conveyor or of the take-up belt of a mobile transfer conveyorand the control of the mass stream and of the conveyed material stream,can be fulfilled by the exemplary open-loop/closed-loop control devicedisclosed herein. In other words, the manual positioning is replaced byan automatic positioning (e.g., manless operation) of the loading boomfor the transfer of conveyed material to the discharging conveyor—benchconveyor or mobile transfer conveyor with take-up belt.

The open-loop/closed-loop control device exerts a direct influence onthe belt running of the bench conveyor belt or of the take-up belt of amobile transfer conveyor, with due regard to the dirt contamination ofthe conveyor. The conveyed material is loaded with due regard to thebelt transfers. In case of risk of a material jam in/at the transferpoint (e.g., transfer chute), a signal is delivered to the bucket-wheelexcavator or bucket chain excavator to adjust the conveyance.

Further applications of the disclosure are bucket-wheel excavatorshaving a loading boom for transfer to the bench conveyor, bucket chainexcavators having a loading boom for transfer to the bench conveyor,bucket-wheel excavators having a loading boom for transfer to aninterposed mobile transfer conveyor, bucket chain excavators having aloading apparatus for transfer to the bench conveyor.

FIG. 1 shows a schematic view of an underground mining operationincluding as the main components a bucket-wheel excavator or bucketchain excavator in accordance with an exemplary embodiment of thepresent disclosure. The bucket wheel conveyor or bucket chain conveyorinclusive of a movable transferring device and a bench conveyor (e.g.,face conveyor) inclusive of bench conveyor belt (e.g., discharging belt)is shown, wherein the movable transferring device is constructed with apivot mechanism/lifting gear.

The bucket-wheel excavator or bucket chain excavator 1 has as the maincomponents an extraction apparatus 2 for the conveyed material, forexample coal or spoils, and a movable transferring device 12 for theconveyed material.

The extraction apparatus 2 includes, for example in a bucket-wheelexcavator: a pivotable superstructure 3, with inclinable boom 4 fastenedthereon, inclusive of take-up belt, a bucket wheel 5, fastened to theend face of the boom 4, for the conveyance of the conveyed material,inclusive of chute 6 (e.g., conveyed material transferring device) fortransfer of the conveyed material from the bucket wheel 5 to the take-upbelt, a crawler-mounted mobile substructure 9.

In FIG. 1, both the direction of travel 10 of the substructure 9 and thepivot direction/pivot angle 8 of the boom 4 are shown over the blockwidth, wherein the block width or the pivot angle determines the workingrange, e.g., the removal of the conveyed material.

The transferring device 12 includes a loading boom 13 (e.g., dischargeconveyor) inclusive of loading belt and loading chute 14 (e.g., transferchute), a pivot mechanism/lifting gear 15 for the loading boom 13 (e.g.,fastened to the extraction apparatus 2), a take-up chute 7 (e.g.,conveyed material transferring device) for transfer of the conveyedmaterial from the take-up belt of the boom 4 to the transferring device12.

The loading device 12 has—as already mentioned—a loading chute 14 (e.g.,rotating chute, conveyed material transferring device, transfer chute)for transfer of the conveyed material from the loading boom 13 to thebench conveyor 17. Furthermore, the bench conveyor axis 18 is shown,which forms the belt middle of the discharging conveyor or benchconveyor 17.

FIG. 2 shows a mobile transfer conveyor provided between thebucket-wheel excavator or bucket chain excavator and the bench conveyorin accordance with an exemplary embodiment of the present disclosure. InFIG. 2 is shown an exemplary embodiment in which a mobile transferconveyor is additionally provided between the bucket-wheel excavator orbucket chain excavator and the bench conveyor. A bucket-wheel excavatoror bucket chain excavator 1 having a loading boom 13 fastened above thepivot mechanism/lifting gear 15 can be identified, wherein the loadingchute 14 transfers the conveyed material to the take-up belt 39 of themobile transfer conveyor 37. The mobile transfer conveyor 37 is moved bymeans of its crawler-mounted substructure 38 that can be parallel to thebench conveyor 17 and transfers the conveyed material via a transferchute 40 to the bench conveyor belt of the bench conveyor 17.

For the automatic detection and tracking of the position of the movabletransferring device 12 or positioning of the loading boom 13 for thetransfer of conveyed material to the bench conveyor 17 or to the take-upbelt 39 of the mobile transfer conveyor 37, exemplary embodiments of thepresent disclosure can include the following sensors: a sensor 21 fordetecting the current spatial coordinates x_(B)/y_(B)/z_(B) of thebucket-wheel excavator or bucket chain excavator 1, a sensor 22 fordetecting the current spatial coordinates x_(S)/y_(S)/z_(S) of the benchconveyor axis 18 of the bench conveyor 17 (e.g., under the conditions ofthe exemplary embodiment according to FIG. 1) or of the take-up belt 39of the mobile transfer conveyor 37 (e.g., under the conditions of theexemplary embodiment according to FIG. 2), a sensor 23 for detecting thecurrent longitudinal inclination and transverse inclination of theloading boom 13, a sensor 24 for detecting the current pivot angle ofthe loading boom 13, a sensor 25 for detecting the current load upon theloading belt of the loading boom 13, and a sensor 26 for detecting thecurrent distance of the loading boom 13 to the track level or above thebench conveyor or above the bench conveyor belt of the bench conveyor 17(e.g., under the conditions of the exemplary embodiment according toFIG. 1) or above the take-up belt 39 of the mobile transfer conveyor 37(e.g., under the conditions of the exemplary embodiment according toFIG. 2).

In addition the exemplary embodiments can include a sensor 27 fordetecting the current vertical positioning of the loading boom 13 abovethe bench conveyor belt of the bench conveyor 17 (e.g., under theconditions of the exemplary embodiment according to FIG. 1) or above thetake-up belt 39 of the mobile transfer conveyor 37 (e.g., under theconditions of the exemplary embodiment according to FIG. 2), inclusiveof detection of the belt middle, a sensor 28 for detecting the currentload state of the bench conveyor belt of the bench conveyor 17 (e.g.,under the conditions of the exemplary embodiment according to FIG. 1) orof the take-up belt 39 of the mobile transfer conveyor 37 (e.g., underthe conditions of the exemplary embodiment according to FIG. 2), asensor 29 for detecting any current skewing of the bench conveyor beltof the bench conveyor 17 (under the conditions of the exemplaryembodiment according to FIG. 1) or of the take-up belt 39 of the mobiletransfer conveyor 37 (e.g., under the conditions of the exemplaryembodiment according to FIG. 2), a sensor 30 for detecting the currentangular position of the loading chute 14, a sensor 31 for detecting thecurrent inclination of the loading chute 14, a sensor 32 for detectingobjects within the range of pivot of the loading boom 13 (e.g., impactprotection), a sensor 33 for detecting the current belt pass-over pointbetween the take-up belt of the boom 4 and the loading belt of theloading boom 13 (e.g., collision protection), and a sensor 34 fordetecting the current belt pass-over point between the loading belt ofthe loading boom 13 and the bench conveyor belt of the bench conveyor 17(e.g., under the conditions of the exemplary embodiment according toFIG. 1) or the take-up belt 39 of the mobile transfer conveyor 37(collision protection, e.g., under the conditions of the exemplaryembodiment according to FIG. 2).

To an open-loop/closed-loop control device 20 are relayed: the signal Aof the sensor 21, the signal B of the sensor 22, the signal C of thesensor 23, the signal D of the sensor 24, the signal E of the sensor 25,the signal F of the sensor 26, the signal G of the sensor 27, the signalH of the sensor 28, the signal I of the sensor 29, the signal K of thesensor 30, the signal L of the sensor 31, the signal M of the sensor 32,the signal N of the sensor 33, and the signal O of the sensor 34.

The open-loop/closed-loop control device 20 processes these suppliedsignals, links them together in a predefined manner and, in dependenceon these signals and in dependence on target value presets/parameterpresets 35 for the above-cited sensors, drives the pivotmechanism/lifting gear 15, the loading chute 14 and, in anotherexemplary embodiment, the extraction apparatus 2, see the drive signal Qfor the transferring device 12, the drive signal R for the loading chute14, and the drive signal S for the extraction apparatus 2.

The open-loop/closed-loop control device 20 hereupon can define thepivot angle and the inclination of the loading boom 13 of thetransferring device 12 in the form of the drive signal Q in dependenceon the signals of the following sensors: the signal A of the sensor 21for detecting the current spatial coordinates x_(B)/y_(B)/z_(B) of thebucket-wheel excavator or bucket chain excavator 1, the signal B of thesensor 22 for detecting the current spatial coordinatesx_(S)/y_(S)/z_(S) of the bench conveyor 17 (e.g., under the conditionsof the exemplary embodiment according to FIG. 1) or of the take-up belt39 of the mobile transfer conveyor 37 (e.g., under the conditions of theexemplary embodiment according to FIG. 2), the signal C of the sensor 23for detecting the current longitudinal and transverse inclination of theloading boom 13, the signal D of the sensor 24 for detecting the currentpivot angle of the loading boom 13, the signal F of the sensor 26 fordetecting the current distance of the loading boom 13 above the benchconveyor 17 (e.g., under the conditions of the exemplary embodimentaccording to FIG. 1) or above the take-up belt 39 of the mobile transferconveyor 37 (e.g., under the conditions of the exemplary embodimentaccording to FIG. 2), the signal G of the sensor 27 for detecting thecurrent vertical positioning of the loading boom 13 above the benchconveyor 17 (e.g., under the conditions of the exemplary embodimentaccording to FIG. 1) or above the take-up belt 39 of the mobile transferconveyor 37 (e.g., under the conditions of the exemplary embodimentaccording to FIG. 2), inclusive of detection of the belt middle.

Furthermore, the open-loop/closed-loop control device 20 can define thepivot angle and the inclination of the loading chute 14 in the form ofthe signal R in dependence on the signals of the following sensors: thesignal H of the sensor 28 for detecting the current load state of thebench conveyor belt of the bench conveyor 17 (e.g., under the conditionsof the exemplary embodiment according to FIG. 1) or of the take-up belt39 of the mobile transfer conveyor 37 (e.g., under the conditions of theexemplary embodiment according to FIG. 2), the signal I of the sensor 29for detecting any current skewing of the bench conveyor belt of thebench conveyor 17 (e.g., under the conditions of the exemplaryembodiment according to FIG. 1) or of the take-up belt 39 of the mobiletransfer conveyor 37 (e.g., under the conditions of the exemplaryembodiment according to FIG. 2), the signal K of the sensor 30 fordetecting the current angular position of the loading chute 14, thesignal L of the sensor 31 for detecting the current inclination of theloading chute 14.

For further improvement of the open-loop/closed-loop control system, theopen-loop/closed-loop control device 20 can be additionally fed thesignal E of the sensor 25 for detecting the current load upon theloading belt of the loading boom 13. As a result, a possible materialjam in the loading chute 14—caused, for example, by wet masses orconveyed material—is detected and an appropriate output signal S can betransmitted to the extraction apparatus 2 in order to stop thebucket-wheel excavator or bucket chain excavator and avoid overfillingof the loading chute 14.

For the purpose of avoiding a collision between the loading boom 13 andthe bench conveyor 17 (e.g., collision protection), theopen-loop/closed-loop control device 20 can be additionally fed thesignals O of the sensor 34 for detecting the current belt pass-overpoint between the loading belt of the loading boom 13 and the benchconveyor belt of the bench conveyor 17 (e.g., under the conditions ofthe exemplary embodiment according to FIG. 1) or the take-up belt 39 ofthe mobile transfer conveyor 37 (e.g., under the conditions of theexemplary embodiment according to FIG. 2).

For the purpose of avoiding a collision between the loading boom 13 andan object, such as an apparatus or a person, the open-loop/closed-loopcontrol device 20 can be additionally fed the signals M of the sensor 32for detecting objects within the range of pivot of the loading boom 13(e.g., collision protection).

These signals O, M are taken into account in the generation of the drivesignals R and Q, where applicable also with respect to S.

The exemplary open-loop/closed-loop control system of the presentdisclosure produces high availability of the components to be used and,for example, high availability of the desired “manless operation” (e.g.,automatic) function. As a result, of the proposed open-loop/closed-loopcontrol system, an independence from environmental influences, such asstrong solar radiation, heavy rain, snowfall, fog, frost, is obtained.Furthermore, insensitivity to steaming coal or steaming conveyedmaterial is obtained. High accuracy with respect to the positioning andsurveying of the belt edges, as well as with respect to belt runningdetection, is obtained. In addition, both equipment protection andpersonal protection are ensured under all operating conditions.

Thus, it will be appreciated by those skilled in the art that thepresent disclosure can be embodied in other specific forms withoutdeparting from the spirit or essential characteristics thereof. Thepresently disclosed exemplary embodiments are therefore considered inall respects to be illustrative and not restricted. The scope of thedisclosure is indicated by the appended claims rather than the foregoingdescription and all changes that come within the meaning and range andequivalence thereof are intended to be embraced therein.

REFERENCE SYMBOL LIST

-   1 bucket-wheel excavator or bucket chain excavator-   2 extraction apparatus of the bucket-wheel excavator or bucket chain    excavator-   3 pivotable superstructure-   4 inclinable boom inclusive of take-up belt-   5 bucket wheel-   6 chute-   7 take-up chute of the loading boom 13-   8 pivot direction/pivot angle of the boom 4 across the block width-   9 crawler-mounted substructure-   10 direction of travel of the substructure 9-   12 movable transferring device of the bucket-wheel excavator or    bucket chain excavator-   13 loading excavator (discharge conveyor) inclusive of loading belt-   14 loading chute (rotating chute, transfer chute) of the    transferring device-   15 pivot mechanism/lifting gear for loading boom-   17 bench conveyor (face conveyor) inclusive of bench conveyor-   18 bench conveyor axis=belt middle of the bench conveyor 17-   20 open-loop/closed-loop control device-   21 sensor for detecting the current spatial coordinates    x_(B)/y_(B)/z_(B) of the bucket-wheel excavator or bucket chain    excavator 1→signal A-   22 sensor for detecting the current spatial coordinates    x_(S)/y_(S)/z_(S) of the bench conveyor axis 18 or of the take-up    belt 39 of the mobile transfer conveyor 37→signal B-   23 sensor for detecting the current longitudinal and transverse    inclination of the loading boom 13→signal C-   24 sensor for detecting the current pivot angle of the loading boom    13→signal D-   25 sensor for detecting the current load upon the loading belt of    the loading boom 13→signal E-   26 sensor for detecting the current distance of the loading boom 13    to the track level or above the bench conveyor belt of the bench    conveyor 17 or above the take-up belt 39 of the mobile transfer    conveyor 37→signal F-   27 sensor for detecting the current vertical positioning of the    loading boom 13 above the bench conveyor belt of the bench conveyor    17 or above the take-up belt 39 of the mobile transfer conveyor 37    inclusive of detection of the belt middle→signal G-   28 sensor for detecting the current load state of the bench conveyor    belt of the bench conveyor 17 or of the take-up belt 39 of the    mobile transfer conveyor 37,→signal H-   29 sensor for detecting any current skewing of the bench conveyor    belt of the bench conveyor 17 or of the take-up belt 39 of the    mobile transfer conveyor 37→signal I-   30 sensor for detecting the current angular position of the loading    chute 14→signal K-   31 sensor for detecting the current inclination of the loading chute    14→signal L-   32 sensor for detecting objects within the range of pivot of the    loading boom 13 (collision protection)→signal M-   33 sensor for detecting the current belt pass-over point between the    take-up belt of the boom 4 and the loading belt of the loading boom    13 (collision protection)→signal N-   34 sensor for detecting the current belt pass-over point between the    loading belt of the loading boom 13 and the bench conveyor belt of    the bench conveyor 17 or the take-up belt 39 of the mobile transfer    conveyor 37 (collision protection)→signal O-   35 target value presets/parameter presets-   37 mobile transfer conveyor-   38 crawler-mounted substructure-   39 take-up belt-   40 transfer chute

What is claimed is:
 1. A method for detecting and tracking a position ofa movable transferring device/loading device of a bucket-wheelexcavator, which excavator includes an extraction apparatus having apivotable superstructure with an inclinable boom, a track-mobilesubstructure, and a transferring device with a loading boom, thesuperstructure delivers conveyed material by means of a bench conveyorwithout an interposed mobile transfer conveyor or transfer point,wherein an open-loop or closed-loop control device establishes the pivotangle and the inclination of the loading boom of the transferringdevice, the method comprising: detecting, in a first sensor, currentspatial coordinates of the bucket-wheel excavator; detecting, in asecond sensor, current spatial coordinates of the bench conveyor;detecting, in a third sensor, current longitudinal inclination andtransverse inclination of the loading boom; detecting, in a fourthsensor, a current pivot angle of the loading boom; detecting, in a fifthsensor, a current distance of the loading boom above the bench conveyor;detecting, in a sixth sensor, a current vertical positioning of theloading boom above the bench conveyor; and monitoring, in a seventhsensor, overfilling at the transfer point of the loading boom.
 2. Themethod as claimed in claim 1, comprising: supplying the loading boom ofthe bench conveyor with conveyed material via a loading chute, whereinthe open-loop or closed-loop control device establishes the pivot angleand the inclination of the loading chute the method comprising:detecting, in an eighth sensor, a current load state of a bench conveyorbelt of the bench conveyor; detecting, in a ninth sensor, any currentskewing of the bench conveyor belt of the bench conveyor; detecting, ina tenth sensor, a current angular position of the loading chute; anddetecting, in an eleventh sensor, a current inclination of the loadingchute.
 3. The method as claimed in claim 1, wherein the open-loop orclosed-loop control device is fed signals of at least one of the firstthrough seventh sensors for detecting a current load upon a loading beltof the loading boom.
 4. The method as claimed in claim 1, wherein theopen-loop or closed-loop control device is fed signals of a twelfthsensor for detecting a current belt pass-over point between a take-upbelt of the boom and a loading belt of the loading boom.
 5. The methodas claimed in claim 1, wherein the open-loop or closed-loop controldevice is additionally fed signals of a thirteenth sensor for detectinga current belt pass-over point between a loading belt of the loadingboom and the bench conveyor belt of the bench conveyor.
 6. The method asclaimed in claim 1, wherein the open-loop or closed-loop control deviceis fed signals of a fourteenth sensor for detecting objects within rangeof pivot of the loading boom.
 7. A method for detecting and tracking aposition of a movable transferring device/loading device of abucket-wheel excavator or bucket chain excavator, which excavatorincludes an extraction apparatus having a pivotable superstructure withan inclinable boom, a track-mobile substructure, and a transferringdevice with a loading boom, the superstructure delivers conveyedmaterial by means of a bench conveyor with an interposed mobile transferconveyor or transfer point, wherein an open-loop or closed-loop controldevice establishes the pivot angle and the inclination of the loadingboom of the transferring device, the method comprising: detecting, in afirst sensor, current spatial coordinates of the bucket-wheel excavatoror bucket chain excavator; detecting, in a second sensor, currentspatial coordinates of the bench conveyor or of the take-up belt of themobile transfer conveyor; detecting, in a third sensor, currentlongitudinal inclination and transverse inclination of the loading boom;detecting, in a fourth sensor, a current pivot angle of the loadingboom; detecting, in a fifth sensor, a current distance of the loadingboom above the bench conveyor or above the take-up belt of the mobiletransfer conveyor; detecting, in a sixth sensor, a current verticalpositioning of the loading boom above the bench conveyor or above thetake-up belt of the mobile transfer conveyor, inclusive of detection ofthe belt middle; and monitoring, in a seventh sensor, an overfilling atthe transfer point of the loading boom.
 8. The method as claimed inclaim 7, comprising: supplying the loading boom of the bench conveyor orthe take-up belt of the mobile transfer conveyor with conveyed materialvia a loading chute, wherein the open-loop or closed-loop control deviceestablishes the pivot angle and the inclination of the loading chute,the method comprising: detecting, in an eighth sensor, the current loadstate of the bench conveyor belt of the bench conveyor or of the take-upbelt of the mobile transfer conveyor; detecting, in a ninth sensor, anycurrent skewing of the bench conveyor belt of the bench conveyor or ofthe take-up belt of the mobile transfer conveyor; detecting, in a tenthsensor, a current angular position of the loading chute; and detecting,in an eleventh sensor, a current inclination of the loading chute. 9.The method as claimed in claim 7, wherein the open-loop or closed-loopcontrol device is fed signals of a twelfth sensor for detecting acurrent load upon the loading belt of the loading boom.
 10. The methodas claimed in claim 7, wherein the open-loop or closed-loop controldevice is fed signals of a thirteenth sensor for detecting a currentbelt pass-over point between the take-up belt of the boom and theloading belt of the loading boom.
 11. The method as claimed in claim 7,wherein the open-loop or closed-loop control device is additionally fedsignals of a fourteenth sensor for detecting a current belt pass-overpoint between the loading belt of the loading boom and the benchconveyor belt of the bench conveyor or the take-up belt of the mobiletransfer conveyor.
 12. The method as claimed in claim 7, wherein theopen-loop or closed-loop control device is fed signals of a fourteenthsensor for detecting objects within range of pivot of the loading boom.